An Autonomous Task Allocation Method Of The Multi-Robot System
Yingying Ding, Miaoliang Zhu, Yan He, Jingping Jiang · 2006
To enable the multi-robot system allocating tasks automatically is very important in improving the adaptation of the system. In this paper, a task allocation method based on personality is designed and a persistent factor, as one aspect of personality of the robot is introduced; the pheromone follow phenomenon of the ant algorithm is used to realize cooperation. Box pushing problem is used to test the performance of the algorithm. A phenomenon called task deadlock is defined and discussed in the paper. The persistent factor is used to solve the task deadlock problem